Cleaning robot

ABSTRACT

A cleaning robot includes a main body and a cleaning module. The main body is configured to move on a floor along a travelling direction. The cleaning module includes a first shaft and some first roller sets. The first shaft is connected with the main body. The first shaft extends along a first axis perpendicular to the travelling direction. The first roller sets are separated from each other. Each first roller set includes a first bearing, a first tire and a first flexible structure. The first shaft penetrates through the first bearing. The first tire includes a first cleaning surface configured to abut against the floor. The first flexible structure includes a first inner surface and a first outer surface. The first inner surface abuts against the first bearing. The first outer surface abuts against the first tire. The first flexible structure has a first elasticity.

RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application Ser.No. 63/292,600 filed Dec. 22, 2021, and Taiwan Application Serial Number111144653, filed Nov. 22, 2022, the disclosures of which areincorporated herein by reference in their entireties.

BACKGROUND Technical Field

The present disclosure relates to cleaning robots.

Description of Related Art

With the development of science and technology, cleaning robots havebecome one of the common appliances in every household. Due to itsconvenient and time-saving cleaning ability, cleaning robots aregradually used in clean rooms.

In order to meet the environmental requirements of the clean rooms, inaddition to having a good cleaning ability, whether there will be acondition of raising dust during operation of a cleaning robot is alsoan important factor for users to consider.

Therefore, how to make a cleaning robot move smoothly on the ground andat the same time effectively avoid the condition of raising dust duringoperation of the cleaning robot is undoubtedly an issue that theindustry highly concerns.

SUMMARY

A technical aspect of the present disclosure is to provide a cleaningrobot, which can carry out effective cleaning to uneven floor andmaintain a good smoothness when turning.

According to an embodiment of the present disclosure, a cleaning robotincludes a main body and a cleaning module. The main body is configuredto move on a floor along a travelling direction. The cleaning moduleincludes a first shaft and a plurality of first roller sets. The firstshaft is connected with the main body. The first shaft extends along afirst axis perpendicular to the travelling direction. The first rollersets are separated from each other. Each of the first roller setsincludes a first bearing, a first tire and a first flexible structure.The first shaft penetrates through the first bearing. The first tireincludes a first cleaning surface configured to abut against the floor.The first flexible structure includes a first inner surface and a firstouter surface. The first inner surface abuts against the first bearing.The first outer surface abuts against the first tire. The first flexiblestructure has a first elasticity.

In one or more embodiments of the present disclosure, each of the firstflexible structures includes an inner ring, an outer ring and aplurality of elastic portions. A corresponding one of the first innersurfaces is located at the inner ring. A corresponding one of the firstouter surfaces is located at the outer ring. The elastic portionselastically are connected between the inner ring and the outer ring. Twoadjacent ones of the elastic portions define a through holetherebetween.

In one or more embodiments of the present disclosure, each of thethrough holes is of a parallelogram.

In one or more embodiments of the present disclosure, each of thethrough holes is of an arrow shape.

In one or more embodiments of the present disclosure, each of the firstflexible structures includes an inner ring and a plurality of springs. Acorresponding one of the first inner surfaces is located at the innerring. The springs surround and are respectively connected with the innerring. A corresponding one of the first outer surfaces includes aplurality of subsidiary outer surfaces. Each of the subsidiary outersurfaces is located at a side of a corresponding one of the springs awayfrom the inner ring.

In one or more embodiments of the present disclosure, each of the firstflexible structures includes an inner ring, an outer ring and an elasticbody. A corresponding one of the first inner surfaces is located at theinner ring. A corresponding one of the first outer surfaces is locatedat the outer ring. The elastic body is elastically connected between theinner ring and the outer ring. The elastic body includes a plurality ofannular elastic sheets. The annular elastic sheets are connected witheach other and are respectively inclined to the inner ring and the outerring.

In one or more embodiments of the present disclosure, each of the firsttires includes a first sticky colloid and a first frame. A correspondingone of the first cleaning surfaces is located at the first stickycolloid. The first frame abuts between the first sticky colloid and acorresponding one of the first flexible structures. The first frame isharder than the first flexible structure.

In one or more embodiments of the present disclosure, the cleaningmodule further includes a second shaft and a plurality of second rollersets. The second shaft is connected with the main body. The second shaftextends along a second axis parallel with the first axis. The secondroller sets are separated from each other. Each of the second rollersets includes a second bearing, a second tire and a second flexiblestructure. The second shaft penetrates through the second bearing. Thesecond tire includes a second cleaning surface configured to abutagainst the floor. The second flexible structure includes a second innersurface and a second outer surface. The second inner surface abutsagainst the second bearing. The second outer surface abuts against thesecond tire. The second flexible structure has a second elasticity. Twoadjacent ones of the second cleaning surfaces define a gap therebetween.Each of the gaps aligns with a corresponding one of the first cleaningsurfaces along the travelling direction.

In one or more embodiments of the present disclosure, the main bodyincludes a main frame. Two opposite ends of the first shaft areconnected with the main frame. The cleaning robot further includes asticky roller and a lifting mechanism. The sticky roller is configuredto abut against and clean up the first tires. The lifting mechanismincludes a supporting frame, a plurality of wheels, a first connectingportion, a second connecting portion, a driving device and a threadedrod. The wheels are disposed on the supporting frame and support thesticky roller. The first connecting portion is connected to a side ofthe supporting frame and is movably connected with the main frame. Thesecond connecting portion is connected to another side of the supportingframe and has a screw hole. The driving device is disposed on the mainframe. The threaded rod is coupled with the screw hole. The drivingdevice is configured to rotate the threaded rod.

In one or more embodiments of the present disclosure, the secondconnecting portion further includes a first subsidiary connectingportion, a second subsidiary connecting portion and a connecting piece.The first subsidiary connecting portion is connected with the supportingframe. The screw is located at the second subsidiary connecting portion.The connecting piece has a first end and a second end opposite to thefirst end. The first end is pivotally connected with the firstsubsidiary connecting portion. The second end is pivotally connectedwith the second subsidiary connecting portion.

In one or more embodiments of the present disclosure, the firstconnecting portion is pivotally connected with the main frame.

In one or more embodiments of the present disclosure, the main bodyfurther includes a guiding rod. The guiding rod is connected with themain frame and is parallel with the threaded rod. The first connectingportion has a through hole. The guiding rod penetrates through thethrough hole.

In one or more embodiments of the present disclosure, the firstconnecting portion includes two connecting rods. The connecting rods arearranged in parallel. Each of the connecting rods has a first end and asecond end opposite to the first end. The first end is pivotallyconnected with the supporting frame. The second end is pivotallyconnected with the main frame.

According to an embodiment of the present disclosure, a cleaning robotincludes a main body and a cleaning module. The main body is configuredto move on a floor along a travelling direction. The cleaning moduleincludes a shaft and a plurality of roller sets. The shaft is connectedwith the main body. The shaft extends along an axis perpendicular to thetravelling direction. The roller sets are separated from each other.Each of the roller sets includes a bearing, a tire and a flexiblestructure. The shaft penetrates through the bearings. The tire includesa cleaning surface. The cleaning surface is configured to abut againstthe floor. The tire has a center. The flexible structure is connectedbetween the bearing and the tire. The flexible structure is deformablesuch that the center is movable relative to the axis.

In one or more embodiments of the present disclosure, each of theflexible structures includes an inner ring, an outer ring and aplurality of elastic portions. The inner ring is connected with thebearing. The outer ring is connected with the tire. The elastic portionsare elastically connected between the inner ring and the outer ring. Twoadjacent ones of the elastic portions define a through holetherebetween.

In one or more embodiments of the present disclosure, each of thethrough holes is shaped with at least one acute angle.

In one or more embodiments of the present disclosure, each of theflexible structures includes an inner ring and a plurality of springs.The inner ring is connected with the bearing. The springs evenlysurround the inner ring. The springs are respectively connected with theinner ring. The springs abut against the tire.

In one or more embodiments of the present disclosure, each of theflexible structures includes an inner ring, an outer ring and an elasticbody. The inner ring is connected with the bearing. The outer ring isconnected with the tire. The elastic body elastically is connectedbetween the inner ring and the outer ring. The elastic body includes aplurality of annular elastic sheets. The annular elastic sheets areconnected with each other. The annular elastic sheets are respectivelyinclined to the inner ring and the outer ring.

In one or more embodiments of the present disclosure, each of the tiresincludes a sticky colloid and a frame. A corresponding one of thecleaning surfaces is located at the sticky colloid. The frame isconnected between the sticky colloid and a corresponding one of theflexible structures. The flexible structures are more flexible than theframes.

According to an embodiment of the present disclosure, a cleaning robotincludes a main body, a cleaning module, a sticky roller and a liftingmechanism. The main body is configured to move on a floor along atravelling direction. The main body has a main frame. The cleaningmodule includes a shaft and a plurality of roller sets. The shaftextends along an axis perpendicular to the travelling direction. Twoopposite ends of the shaft are connected with the main frame. The rollersets are separated from each other. The shaft penetrates through theroller sets. Each of the roller sets has a cleaning surface configuredto abut against the floor. The sticky roller is configured to abutagainst and clean up the cleaning surfaces. The lifting mechanismincludes a supporting frame, a plurality of wheels, a first connectingportion, a second connecting portion, a driving device and a threadedrod. The wheels are disposed on the supporting frame. The wheels supportthe sticky roller. The first connecting portion is connected to a sideof the supporting frame. The first connecting portion is movablyconnected with the main frame. The second connecting portion isconnected to another side of the supporting frame. The second connectingportion has a screw hole. The driving device is disposed on the mainframe. The threaded rod is coupled with the screw hole. The drivingdevice is configured to rotate the threaded rod relative to the mainframe.

The above-mentioned embodiments of the present disclosure have at leastthe following advantages:

(1) Since the first flexible structure has a first elasticity in aradial direction of the first shaft, when the cleaning robot moves alongthe travelling direction and encounters an obstacle, the first flexiblestructure inside each of the first roller sets corresponding to theobstacle can elastically deform relative to the first shaft, such thatthe first tires of the first roller sets can move over the obstacle andclean up the surface of the obstacle. Furthermore, since the firstroller sets are separated from each other, the first roller sets passingby the obstacle are not influenced by the first roller sets moving overthe obstacle and can still abut against the floor to clean up the floor.In this way, the first roller sets, which are separated from each otherand can respectively and elastically deform relative to the first shaft,are suitable to carry out effective cleaning to the floor which isuneven. Hence, the cleaning robot can provide a good cleaning effect.

(2) Since the first roller sets are separated from each other and thesecond roller sets are separated from each other, when the cleaningrobot turns, the rotational speeds of the first roller sets can bedifferent from each other and are not influenced by each other, whilethe rotational speeds of the second roller sets can also be differentfrom each other and are not influenced by each other. Thus, thecondition that first roller sets or the second roller sets rub againstthe floor due to insufficient rotational speeds can be avoided.Therefore, the smoothness of the cleaning robot when turning iseffectively enhanced.

(3) When the cleaning robot turns such that the rotational speeds of thefirst roller sets and the rotational speeds of the second roller setsare different from each other, through the operation of the liftingmechanism, the sticky roller can temporarily leave from the firstcleaning surfaces of the first tires and the second cleaning surfaces ofthe second tires. Apart from avoiding the sticky roller from rubbing todamage by the first cleaning surfaces or the second cleaning surfacesdue to the different rotational speeds of the first roller sets or thedifferent rotational speeds of the second roller sets, the rotationalspeeds of the first roller sets and the rotational speeds of the secondroller sets are not influenced due to the sticky roller rubbing againstthe first cleaning surfaces and the second cleaning surfaces. Thus, thesmoothness of the cleaning robot when turning is effectively enhanced.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosure can be more fully understood by reading the followingdetailed description of the embodiments, with reference made to theaccompanying drawings as follows:

FIG. 1 is a side view of a cleaning robot according to an embodiment ofthe present disclosure;

FIG. 2 is a partially bottom view of the cleaning robot of FIG. 1 ;

FIG. 3 is a sectional view of the first roller sets of FIGS. 1-2 ;

FIG. 4 is a sectional view of the second roller sets of FIGS. 1-2 ;

FIG. 5 is a front view of application of the first roller sets of FIGS.1-2 moving along the travelling direction;

FIG. 6 is a front view of one of the first flexible structures of FIG. 3;

FIG. 7 is a front view of a first flexible structure according toanother embodiment of the present disclosure;

FIG. 8 is a front view of a first flexible structure according to afurther embodiment of the present disclosure;

FIG. 9 is a three-dimensionally sectional view of a first flexiblestructure according to another embodiment of the present disclosure;

FIG. 10 is a top view of application of the cleaning module of FIGS. 1-2;

FIG. 11 is a schematic view of action of the lifting mechanism of FIG. 1;

FIGS. 12-13 are schematic views of action of a lifting mechanismaccording to another embodiment of the present disclosure; and

FIGS. 14-15 are schematic views of action of a lifting mechanismaccording to a further embodiment of the present disclosure.

DETAILED DESCRIPTION

Drawings will be used below to disclose embodiments of the presentdisclosure. For the sake of clear illustration, many practical detailswill be explained together in the description below. However, it isappreciated that the practical details should not be used to limit theclaimed scope. In other words, in some embodiments of the presentdisclosure, the practical details are not essential. Moreover, for thesake of drawing simplification, some customary structures and elementsin the drawings will be schematically shown in a simplified way.Wherever possible, the same reference numbers are used in the drawingsand the description to refer to the same or like parts.

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meanings as commonly understood by oneof ordinary skill in the art to which this disclosure belongs. It willbe further understood that terms, such as those defined in commonly useddictionaries, should be interpreted as having a meaning that isconsistent with their meaning in the context of the relevant art and thepresent disclosure, and will not be interpreted in an idealized oroverly formal sense unless expressly so defined herein.

Reference is made to FIGS. 1-2 . FIG. 1 is a side view of a cleaningrobot 100 according to an embodiment of the present disclosure. FIG. 2is a partially bottom view of the cleaning robot 100 of FIG. 1 . In thisembodiment, as shown in FIGS. 1-2 , a cleaning robot 100 includes a mainbody 110 and a cleaning module 120. For the sake of drawingsimplification, the appearance of the main body 110 is drawn by hiddenlines in FIG. 1 . The main body 110 is configured to move on a floor 300along a travelling direction DT. The main body 110 includes a main frame111, and the cleaning module 120 includes a first shaft 121, a pluralityof first roller sets 122, a second shaft 126 and a plurality of secondroller sets 127. Two opposite ends of the first shaft 121 are connectedwith the main frame 111 of the main body 110, and the first shaft 121extends along a first axis X1. Two opposite ends of the second shaft 126are also connected with the main frame 111 of the main body 110, and thesecond shaft 126 extends along a second axis X2. The second axis X2 isparallel with the first axis X1. The first axis X1 and the second axisX2 are respectively perpendicular to the travelling direction DT. Thefirst roller sets 122 are separated from each other and are connectedwith the first shaft 121. The second roller sets 127 are also separatedfrom each other and are connected with the second shaft 126. Both of thefirst roller sets 122 and the second roller sets 127 are configured toabut against the floor 300, such that the cleaning robot 100 cleans upthe floor 300 during movement.

Reference is made to FIG. 3 . FIG. 3 is a sectional view of the firstroller sets 122 of FIGS. 1-2 . To be specific, in this embodiment, asshown in FIG. 3 , each of the first roller sets 122 includes a firstbearing 1221, a first tire 1222 and a first flexible structure 1223. Thefirst shaft 121 penetrates through the first bearings 1221 along thefirst axis X1. Each of the first tires 1222 includes a first cleaningsurface 1222 a. Each of the first cleaning surfaces 1222 a is configuredto abut against the floor 300 (please see the floor 300 in FIG. 1 ). Tobe specific, each of the first cleaning surfaces 1222 a is sticky, suchthat the first cleaning surfaces 1222 a can stick up the dust on thefloor 300 in order to clean up the floor 300, for example, through themechanism of static electricity. This way of operation by sticking upthe dust to clean up the floor 300 can effectively avoid the conditionof raising dust. Moreover, each of the first flexible structures 1223includes a first inner surface 1223 a and a first outer surface 1223 b.The first inner surface 1223 a abuts against the first bearing 1221. Thefirst outer surface 1223 b abuts against the first tire 1222. It isworth to note that, in this embodiment, the first flexible structure1223 has a first elasticity in a radial direction of the first shaft121. In this way, when the first tire 1222 is pressed by an externalforce, the first flexible structure 1223 can be elastically compressed,such that the point of the first tire 1222 at which the first tire 1222is pressed moves close to the first bearing 1221.

To be more specific, in this embodiment, as shown in FIG. 3 , each ofthe first flexible structures 1223 includes an inner ring 1224, an outerring 1225 and an elastic portion 1226. The elastic portion 1226 iselastically connected between the inner ring 1224 and the outer ring1225. The first inner surface 1223 a is located at a side of the innerring 1224 away from the outer ring 1225. The first outer surface 1223 bis located at a side of the outer ring 1225 away from the inner ring1224.

In addition, as shown in FIG. 3 , each of the first tires 1222 includesa first sticky colloid 12221 and a first frame 12222. The first frame12222 is abutted between the first sticky colloid 12221 and the firstflexible structure 1223. The first cleaning surface 1222 a is located ata side of the first sticky colloid 12221 away from the first frame12222. The first outer surface 1223 b of the first flexible structure1223 abuts against the first frame 12222. In practical applications,both of the first bearing 1221 and the first frame 12222 of the firsttire 1222 are harder than the first flexible structure 1223. This meansthe first flexible structure 1223 has a higher elasticity than the firstframe 12222 and the first bearing 1221.

Reference is made to FIG. 4 . FIG. 4 is a sectional view of the secondroller sets 127 of FIGS. 1-2 . To be specific, in this embodiment, asshown in FIG. 4 , each of the second roller sets 127 includes a secondbearing 1271, a second tire 1272 and a second flexible structure 1273.The second shaft 126 penetrates through the second bearings 1271 alongthe second axis X2. Each of the second tires 1272 includes a secondcleaning surface 1272 a. Each of the second cleaning surfaces 1272 a isconfigured to abut against the floor 300 (please see the floor 300 inFIG. 1 ). To be specific, each of the second cleaning surfaces 1272 a issticky, such that the second cleaning surfaces 1272 a can stick up thedust on the floor 300 in order to clean up the floor 300, for example,through the mechanism of static electricity. This way of operation bysticking up the dust to clean up the floor 300 can effectively avoid thecondition of raising dust. Moreover, each of the second flexiblestructures 1273 includes a second inner surface 1273 a and a secondouter surface 1273 b. The second inner surface 1273 a abuts against thesecond bearing 1271. The second outer surface 1273 b abuts against thesecond tire 1272. It is worth to note that, in this embodiment, thesecond flexible structure 1273 has a first elasticity in a radialdirection of the second shaft 126. In this way, when the second tire1272 is pressed by an external force, the second flexible structure 1273can be elastically compressed, such that the point of the second tire1272 at which the second tire 1272 is pressed moves close to the secondbearing 1271.

To be more specific, in this embodiment, as shown in FIG. 4 , each ofthe second flexible structures 1273 includes an inner ring 1274, anouter ring 1275 and an elastic portion 1276. The elastic portion 1276 iselastically connected between the inner ring 1274 and the outer ring1275. The second inner surface 1273 a is located at a side of the innerring 1274 away from the outer ring 1275. The second outer surface 1273 bis located at a side of the outer ring 1275 away from the inner ring1274.

In addition, as shown in FIG. 4 , each of the second tires 1272 includesa second sticky colloid 12721 and a second frame 12722. The second frame12722 is abutted between the second sticky colloid 12721 and the secondflexible structure 1273. The second cleaning surface 1272 a is locatedat a side of the second sticky colloid 12721 away from the second frame12722. The second outer surface 1273 b of the second flexible structure1273 abuts against the second frame 12722. In practical applications,both of the second bearing 1271 and the second frame 12722 of the secondtire 1272 are harder than the second flexible structure 1273. This meansthe second flexible structure 1273 has a higher elasticity than thesecond frame 12722 and the second bearing 1271.

On the other hand, as shown in FIGS. 2-3 , two adjacent ones of thefirst cleaning surfaces 1222 a define a first gap G1 therebetween. Asshown in FIG. 2 , each of the first gaps G1 aligns with a correspondingone of the second cleaning surfaces 1272 a along the travellingdirection DT, and each of the second cleaning surfaces 1272 a is widerthan the first gap G1. Relatively, as shown in FIGS. 2 and 4 , twoadjacent ones of the second cleaning surfaces 1272 a define a second gapG2 therebetween. As shown in FIG. 2 , each of the second gaps G2 alignswith a corresponding one of the first cleaning surfaces 1222 a along thetravelling direction DT, and each of the first cleaning surfaces 1222 ais wider than the second gap G2. In this way, when the cleaning robot100 moves along the travelling direction DT, the areas of the floor 300corresponding to the first gaps G1 can be cleaned up by the secondcleaning surfaces 1272 a, while the areas of the floor 300 correspondingto the second gaps G2 can be cleaned up by the first cleaning surfaces1222 a. Thus, the cleaning effect of the cleaning robot 100 can beeffectively enhanced.

Reference is made to FIG. 5 . FIG. 5 is a front view of application ofthe first roller sets 122 of FIGS. 1-2 moving along the travellingdirection DT. As mentioned above, since the first flexible structure1223 has a first elasticity in a radial direction of the first shaft121, when the cleaning robot 100 moves along the travelling direction DTand encounters an obstacle 310, the first flexible structure 1223 insideeach of the first roller sets 122 corresponding to the obstacle 310 canelastically deform relative to the first shaft 121, such that the firsttires 1222 of the first roller sets 122 can move over the obstacle 310and clean up the surface of the obstacle 310. Furthermore, as mentionedabove, since the first roller sets 122 are separated from each other,the first roller sets 122 passing by the obstacle 310 are not influencedby the first roller sets 122 moving over the obstacle 310 and can stillabut against the floor 300 to clean up the floor 300, as shown in FIG. 5. In this way, the first roller sets 122, which are separated from eachother and can respectively and elastically deform relative to the firstshaft 121, are suitable to carry out effective cleaning to the floor 300which is uneven. Hence, the cleaning robot 100 can provide a goodcleaning effect. On the other hand, the second roller sets 127 can moveover the obstacle 310 by the same principle, and the details are notrepeatedly described here.

Reference is made to FIG. 6 . FIG. 6 is a front view of one of the firstflexible structures 1223 of FIG. 3 . In this embodiment, as shown inFIG. 6 , the quantity of the elastic portion 1226 of the first flexiblestructure 1223 is plural, and two adjacent ones of the elastic portion1226 s define a through hole H1 therebetween. In practical applications,for example, each of the through holes H1 is of a parallelogram inshape. Each of the acute angles & of the parallelogram can be rangedbetween 30 degrees and 60 degrees. The smaller the acute angles &, thehigher the elasticity of the elastic portions 1226 will be. Similarly,in this embodiment, the second flexible structure 1273 can bestructurally the same as the first flexible structure 1223, and thedetails are not repeatedly described here.

Reference is made to FIG. 7 . FIG. 7 is a front view of a first flexiblestructure 1223 according to another embodiment of the presentdisclosure. In this embodiment, as shown in FIG. 7 , the quantity of theelastic portion 1226 of the first flexible structure 1223 is plural, andtwo adjacent ones of the elastic portions 1226 define a through hole H1therebetween. In practical applications, for example, each of thethrough holes H1 is of an arrow shape. Similarly, in this embodiment,the second flexible structure 1273 can be structurally the same as thefirst flexible structure 1223, and the details are not repeatedlydescribed here.

Reference is made to FIG. 8 . FIG. 8 is a front view of a first flexiblestructure 1223 according to a further embodiment of the presentdisclosure. In this embodiment, as shown in FIG. 8 , the first flexiblestructure 1223 includes an inner ring 1224 and a plurality of springs1227. The first inner surface 1223 a is located at the inner ring 1224.The springs 1227 surround and are respectively connected with the innerring 1224. The first outer surface 1223 b includes a plurality ofsubsidiary outer surfaces 1223 b′. Each of the subsidiary outer surfaces1223 b′ is located at a side of a corresponding one of the springs 1227away from the inner ring 1224, and the subsidiary outer surfaces 1223 b′respectively abut against the first frame 12222 (please see FIG. 3 forthe first frame 12222) of the first tire 1222. Similarly, in thisembodiment, the second flexible structure 1273 can be structurally thesame as the first flexible structure 1223, and the details are notrepeatedly described here.

Reference is made to FIG. 9 . FIG. 9 is a three-dimensionally sectionalview of a first flexible structure 1223 according to another embodimentof the present disclosure. In this embodiment, as shown in FIG. 9 , thefirst flexible structure 1223 includes an inner ring 1224, an outer ring1225 and an elastic body 1228. The first inner surface 1223 a is locatedat a side of the inner ring 1224 away from the outer ring 1225. Thefirst outer surface 1223 b is located at a side of the outer ring 1225away from the inner ring 1224. The elastic body 1228 is elasticallyconnected between the inner ring 1224 and the outer ring 1225. Theelastic body 1228 includes a plurality of annular elastic sheets 1229.The annular elastic sheets 1229 are connected with each other and arerespectively inclined to the inner ring 1224 and the outer ring 1225. Tobe more specific, the inner ring 1224, the outer ring 1225 and theannular elastic sheets 1229 are mutually concentric. Similarly, in thisembodiment, the second flexible structure 1273 can be structurally thesame as the first flexible structure 1223, and the details are notrepeatedly described here.

Reference is made to FIG. 10 . FIG. 10 is a top view of application ofthe cleaning module 120 of FIGS. 1-2 . In this embodiment, since thefirst roller sets 122 are separated from each other and the secondroller sets 127 are also separated from each other, when the cleaningrobot 100 turns, the rotational speeds of the first roller sets 122 canbe different from each other and are not influenced by each other, whilethe rotational speeds of the second roller sets 127 can also bedifferent from each other and are not influenced by each other. Thus,the condition that first roller sets 122 or the second roller sets 127rub against the floor 300 due to insufficient rotational speeds can beavoided. Therefore, the smoothness of the cleaning robot 100 whenturning is effectively enhanced. Take the first roller sets 122 as anexample, as shown in FIG. 10 , when the cleaning module 120 rotates onthe floor 300 about a center of rotation CR of the cleaning robot 100,the moving distance U of the first roller set 122 away from the centerof rotation CR on the floor 300 is longer than moving distance V of thefirst roller set 122 close to the center of rotation CR. Thus, therotational speed of the first roller set 122 away from the center ofrotation CR is faster than the rotational speed of the first roller set122 close to the center of rotation CR.

Reference is made to FIGS. 1 and 11 . FIG. 11 is a schematic view ofaction of the lifting mechanism 140 of FIG. 1 . In this embodiment, asshown in FIGS. 1 and 11 , the cleaning robot 100 further includes asticky roller 130 and a lifting mechanism 140. The sticky roller 130 isconfigured to abut against the first cleaning surfaces 1222 a of thefirst tires 1222 and the second cleaning surfaces 1272 a of the secondtires 1272, and to remove the dust stuck on the first cleaning surfaces1222 a and the second cleaning surfaces 1272 a, so as to clean up thefirst cleaning surfaces 1222 a and the second cleaning surfaces 1272 a.The lifting mechanism 140 includes a supporting frame 141, a pluralityof wheels 142, a first connecting portion 143, a second connectingportion 144, a driving device 145 and a threaded rod 146 (please seeFIG. 11 for the second connecting portion 144 and the threaded rod 146since they are blocked by the main frame 111 in FIG. 10 ). The wheels142 are disposed on the supporting frame 141 and support the stickyroller 130. Due to the support by the wheels 142, the sticky roller 130can rotate relative to the supporting frame 141. The first connectingportion 143 is connected to a side of the supporting frame 141 and ismovably connected with the main frame 111 of the main body 110. Thesecond connecting portion 144 is connected to another side of thesupporting frame 141 and has a screw hole HS (please see FIG. 11 for thescrew hole HS). The driving device 145 is disposed on the main frame111. The threaded rod 146 is connected with the driving device 145. Thescrew hole HS of the second connecting portion 144 is coupled with thethreaded rod 146. The driving device 145 is configured to rotate thethreaded rod 146.

To be more specific, as shown in FIGS. 1 and 11 , the second connectingportion 144 further includes a first subsidiary connecting portion 1441,a second subsidiary connecting portion 1442 (please see FIG. 11 ) and aconnecting piece 1443. The first subsidiary connecting portion 1441 isconnected with the supporting frame 141. The screw hole HS is located atthe second subsidiary connecting portion 1442. The connecting piece 1443has a first end 1443 a and a second end 1443 b opposite to the first end1443 a. The first end 1443 a is pivotally connected with the firstsubsidiary connecting portion 1441. The second end 1443 b is pivotallyconnected with the second subsidiary connecting portion 1442.

When the driving device 145 rotates the threaded rod 146, since thescrew hole HS of the second subsidiary connecting portion 1442 iscoupled with the threaded rod 146 and the second subsidiary connectingportion 1442 does not rotate with the threaded rod 146 due to theconnection with the connecting piece 1443, the second subsidiaryconnecting portion 1442 moves along the threaded rod 146. The secondsubsidiary connecting portion 1442 then drives the movement of theconnecting piece 1443 and the first subsidiary connecting portion 1441.For example, as shown in FIG. 11 , when the second subsidiary connectingportion 1442 moves towards the driving device 145 along the threaded rod146, the second subsidiary connecting portion 1442 then drives themovement of the connecting piece 1443 and the first subsidiaryconnecting portion 1441, such that the supporting frame 141 moves withthe first subsidiary connecting portion 1441 and leaves from the firsttires 1222 and the second tires 1272. Thus, the sticky roller 130supported by the supporting frame 141 also leaves from the firstcleaning surfaces 1222 a of the first tires 1222 and the second cleaningsurfaces 1272 a of the second tires 1272. This means the sticky roller130 no longer abuts against the first cleaning surfaces 1222 a and thesecond cleaning surfaces 1272 a. In this way, when the cleaning robot100 turns such that the rotational speeds of the first roller sets 122and the rotational speeds of the second roller sets 127 are differentfrom each other, through the operation of the lifting mechanism 140 asmentioned above, the sticky roller 130 can temporarily leave from thefirst cleaning surfaces 1222 a of the first tires 1222 and the secondcleaning surfaces 1272 a of the second tires 1272. Apart from avoidingthe sticky roller 130 from rubbing to damage by the first cleaningsurfaces 1222 a or the second cleaning surfaces 1272 a due to thedifferent rotational speeds of the first roller sets 122 or thedifferent rotational speeds of the second roller sets 127, therotational speeds of the first roller sets 122 and the rotational speedsof the second roller sets 127 are not influenced due to rubbing of thesticky roller 130 against the first cleaning surfaces 1222 a and thesecond cleaning surfaces 1272 a. Thus, the smoothness of the cleaningrobot 100 when turning is effectively enhanced.

Moreover, when replacement is requirement for the sticky roller 130 orthe first roller sets 122 and/or the second roller sets 127 of thecleaning module 120, through the operation of the lifting mechanism 140as mentioned above, the sticky roller 130 can temporarily leave from thefirst cleaning surfaces 1222 a of the first tires 1222 and the secondcleaning surfaces 1272 a of the second tires 1272, which facilitates thereplacement of the sticky roller 130, the first roller sets 122 or thesecond roller sets 127.

Furthermore, as shown in FIGS. 1 and 11 , the first connecting portion143 includes two connecting rods 1431. The two connecting rods 1431 arearranged in parallel. Each of the connecting rods 1431 has a first end1431 a and a second end 1431 b opposite to the first end 1431 a. Thefirst end 1431 a is pivotally connected with the supporting frame 141.The second end 1431 b is pivotally connected with the main frame 111. Inthis way, the first ends 1431 a and the second ends 1431 b of the twoconnecting rods 1431 together form a parallelogram. When the supportingframe 141 is driven by the driving device 145 to leave from the firsttires 1222 and the second tires 1272, the two connecting rods 1431respectively rotate about the corresponding first end 1431 a and thesecond end 1431 b, such that the first ends 1431 a and the second ends1431 b of the two connecting rods 1431 can maintain the shape of aparallelogram. In this way, when the supporting frame 141 moves relativeto the main frame 111, the supporting frame 141 does not inclinerelative to the main frame 111.

Reference is made to FIGS. 12-13 . FIGS. 12-13 are schematic views ofaction of a lifting mechanism 140 according to another embodiment of thepresent disclosure. In this embodiment, as shown in FIGS. 12-13 , thefirst connecting portion 143 of the lifting mechanism 140 is pivotallyconnected with the main frame 111. When the supporting frame 141 isdriven by the driving device 145 to leave from the first tires 1222 andthe second tires 1272, the supporting frame 141 rotates with the firstconnecting portion 143 relative to the main frame 111, such that thesupporting frame 141 is inclined relative to the main frame 111.

Reference is made to FIGS. 14-15 . FIGS. 14-15 are schematic views ofaction of a lifting mechanism 140 according to a further embodiment ofthe present disclosure. In this embodiment, as shown in FIGS. 14-15 ,the screw hole HS is located at the second connecting portion 144, andthe main body 110 further includes a guiding rod 112. The guiding rod112 is connected with the main frame 111 and is parallel with thethreaded rod 146 of the lifting mechanism 140. The first connectingportion 143 of the lifting mechanism 140 has a through hole H2, and theguiding rod 112 penetrates through the through hole H2 of the firstconnecting portion 143. When the driving device 145 rotates the threadedrod 146, since the screw hole HS of the second connecting portion 144 iscoupled with the threaded rod 146 and the second connecting portion 144does not rotate with the threaded rod 146 due to the connection with thesupporting frame 141, the second connecting portion 144 moves along thethreaded rod 146. For example, as shown in FIG. 15 , when the secondconnecting portion 144 moves towards the driving device 145 along thethreaded rod 146, the second connecting portion 144 then drives themovement of the supporting frame 141, such that the supporting frame 141also moves with the second connecting portion 144 to leave from thefirst tires 1222 and the second tires 1272. Thus, the sticky roller 130supported by the supporting frame 141 also leaves from the firstcleaning surfaces 1222 a of the first tires 1222 and the second cleaningsurfaces 1272 a of the second tires 1272. This means the sticky roller130 no longer abuts against the first cleaning surfaces 1222 a and thesecond cleaning surfaces 1272 a. Moreover, as mentioned above, since theguiding rod 112 penetrates through the through hole H2 of the firstconnecting portion 143, the guiding rod 112 can provide guidance to themovement of the supporting frame 141 relative to the main frame 111.

In conclusion, the aforementioned embodiments of the present disclosurehave at least the following advantages:

(1) Since the first flexible structure has a first elasticity in aradial direction of the first shaft, when the cleaning robot moves alongthe travelling direction and encounters an obstacle, the first flexiblestructure inside each of the first roller sets corresponding to theobstacle can elastically deform relative to the first shaft, such thatthe first tires of the first roller sets can move over the obstacle andclean up the surface of the obstacle. Furthermore, since the firstroller sets are separated from each other, the first roller sets passingby the obstacle are not influenced by the first roller sets moving overthe obstacle and can still abut against the floor to clean up the floor.In this way, the first roller sets, which are separated from each otherand can respectively and elastically deform relative to the first shaft,are suitable to carry out effective cleaning to the floor which isuneven. Hence, the cleaning robot can provide a good cleaning effect.

(2) Since the first roller sets are separated from each other and thesecond roller sets are separated from each other, when the cleaningrobot turns, the rotational speeds of the first roller sets can bedifferent from each other and are not influenced by each other, whilethe rotational speeds of the second roller sets can also be differentfrom each other and are not influenced by each other. Thus, thecondition that first roller sets or the second roller sets rub againstthe floor due to insufficient rotational speeds can be avoided.Therefore, the smoothness of the cleaning robot when turning iseffectively enhanced.

(3) When the cleaning robot turns such that the rotational speeds of thefirst roller sets and the rotational speeds of the second roller setsare different from each other, through the operation of the liftingmechanism, the sticky roller can temporarily leave from the firstcleaning surfaces of the first tires and the second cleaning surfaces ofthe second tires. Apart from avoiding the sticky roller from rubbing todamage by the first cleaning surfaces or the second cleaning surfacesdue to the different rotational speeds of the first roller sets or thedifferent rotational speeds of the second roller sets, the rotationalspeeds of the first roller sets and the rotational speeds of the secondroller sets are not influenced due to the sticky roller rubbing againstthe first cleaning surfaces and the second cleaning surfaces. Thus, thesmoothness of the cleaning robot when turning is effectively enhanced.

Although the present disclosure has been described in considerabledetail with reference to certain embodiments thereof, other embodimentsare possible. Therefore, the spirit and scope of the appended claimsshould not be limited to the description of the embodiments containedherein.

It will be apparent to the person having ordinary skill in the art thatvarious modifications and variations can be made to the structure of thepresent disclosure without departing from the scope or spirit of thepresent disclosure. In view of the foregoing, it is intended that thepresent disclosure cover modifications and variations of the presentdisclosure provided they fall within the scope of the following claims.

What is claimed is:
 1. A cleaning robot, comprising: a main bodyconfigured to move on a floor along a travelling direction; and acleaning module, comprising: a first shaft connected with the main body,the first shaft extending along a first axis perpendicular to thetravelling direction; and a plurality of first roller sets separatedfrom each other, each of the first roller sets comprising: a firstbearing, the first shaft penetrating through the first bearing; a firsttire comprising a first cleaning surface configured to abut against thefloor; and a first flexible structure comprising a first inner surfaceand a first outer surface, the first inner surface abutting against thefirst bearing, the first outer surface abutting against the first tire,the first flexible structure having a first elasticity.
 2. The cleaningrobot of claim 1, wherein each of the first flexible structurescomprises: an inner ring, a corresponding one of the first innersurfaces is located at the inner ring; an outer ring, a correspondingone of the first outer surfaces is located at the outer ring; and aplurality of elastic portions elastically connected between the innerring and the outer ring, two adjacent ones of the elastic portionsdefine a through hole therebetween.
 3. The cleaning robot of claim 2,wherein each of the through holes is of a parallelogram.
 4. The cleaningrobot of claim 2, wherein each of the through holes is of an arrowshape.
 5. The cleaning robot of claim 1, wherein each of the firstflexible structures comprises: an inner ring, a corresponding one of thefirst inner surfaces is located at the inner ring; and a plurality ofsprings surrounding and respectively connected with the inner ring, acorresponding one of the first outer surfaces comprises a plurality ofsubsidiary outer surfaces, each of the subsidiary outer surfaces islocated at a side of a corresponding one of the springs away from theinner ring.
 6. The cleaning robot of claim 1, wherein each of the firstflexible structures comprises: an inner ring, a corresponding one of thefirst inner surfaces is located at the inner ring; an outer ring, acorresponding one of the first outer surfaces is located at the outerring; and an elastic body elastically connected between the inner ringand the outer ring, the elastic body comprises a plurality of annularelastic sheets connected with each other and respectively inclined tothe inner ring and the outer ring.
 7. The cleaning robot of claim 1,wherein each of the first tires comprises: a first sticky colloid, acorresponding one of the first cleaning surfaces is located at the firststicky colloid; and a first frame abutting between the first stickycolloid and a corresponding one of the first flexible structures, thefirst frame is harder than the first flexible structure.
 8. The cleaningrobot of claim 1, wherein the cleaning module further comprises: asecond shaft connected with the main body, the second shaft extendsalong a second axis parallel with the first axis; and a plurality ofsecond roller sets separated from each other, each of the second rollersets comprises: a second bearing, the second shaft penetrates throughthe second bearing; a second tire comprising a second cleaning surfaceconfigured to abut against the floor; and a second flexible structurecomprising a second inner surface and a second outer surface, the secondinner surface abuts against the second bearing, the second outer surfaceabuts against the second tire, the second flexible structure has asecond elasticity, wherein two adjacent ones of the second cleaningsurfaces define a gap therebetween, each of the gaps aligns with acorresponding one of the first cleaning surfaces along the travellingdirection.
 9. The cleaning robot of claim 1, wherein the main bodycomprises a main frame, two opposite ends of the first shaft areconnected with the main frame, the cleaning robot further comprises: asticky roller configured to abut against and clean up the first tires;and a lifting mechanism, comprises: a supporting frame; a plurality ofwheels disposed on the supporting frame and supporting the stickyroller; a first connecting portion connected to a side of the supportingframe and movably connected with the main frame; a second connectingportion connected to another side of the supporting frame and having ascrew hole; a driving device disposed on the main frame; and a threadedrod coupled with the screw hole, the driving device is configured torotate the threaded rod.
 10. The cleaning robot of claim 9, wherein thesecond connecting portion further comprises: a first subsidiaryconnecting portion connected with the supporting frame; a secondsubsidiary connecting portion, the screw is located at the secondsubsidiary connecting portion; and a connecting piece having a first endand a second end opposite to the first end, the first end is pivotallyconnected with the first subsidiary connecting portion, the second endis pivotally connected with the second subsidiary connecting portion.11. The cleaning robot of claim 9, wherein the first connecting portionis pivotally connected with the main frame.
 12. The cleaning robot ofclaim 9, wherein the main body further comprises a guiding rod connectedwith the main frame and parallel with the threaded rod, the firstconnecting portion has a through hole, the guiding rod penetratesthrough the through hole.
 13. The cleaning robot of claim 9, wherein thefirst connecting portion comprises two connecting rods arranged inparallel, each of the connecting rods has a first end and a second endopposite to the first end, the first end is pivotally connected with thesupporting frame, the second end is pivotally connected with the mainframe.
 14. A cleaning robot, comprising: a main body configured to moveon a floor along a travelling direction; and a cleaning module,comprising: a shaft connected with the main body, the shaft extendingalong an axis perpendicular to the travelling direction; and a pluralityof roller sets separated from each other, each of the roller setscomprising: a bearing, the shaft penetrating through the bearings; atire comprising a cleaning surface configured to abut against the floor,the tire having a center; and a flexible structure connecting betweenthe bearing and the tire, the flexible structure being deformable suchthat the center is movable relative to the axis.
 15. The cleaning robotof claim 14, wherein each of the flexible structures comprises: an innerring connecting with the bearing; an outer ring connecting with thetire; and a plurality of elastic portions elastically connected betweenthe inner ring and the outer ring, two adjacent ones of the elasticportions define a through hole therebetween.
 16. The cleaning robot ofclaim 15, wherein each of the through holes is shaped with at least oneacute angle.
 17. The cleaning robot of claim 14, wherein each of theflexible structures comprises: an inner ring connecting with thebearing; and a plurality of springs evenly surrounding and respectivelyconnected with the inner ring, the springs abutting against the tire.18. The cleaning robot of claim 14, wherein each of the flexiblestructures comprises: an inner ring connected with the bearing; an outerring connected with the tire; and an elastic body elastically connectedbetween the inner ring and the outer ring, the elastic body comprises aplurality of annular elastic sheets connected with each other andrespectively inclined to the inner ring and the outer ring.
 19. Thecleaning robot of claim 14, wherein each of the tires comprises: asticky colloid, a corresponding one of the cleaning surfaces is locatedat the sticky colloid; and a frame connecting between the sticky colloidand a corresponding one of the flexible structures, the flexiblestructures are more flexible than the frames.
 20. A cleaning robot,comprising: a main body configured to move on a floor along a travellingdirection, the main body having a main frame; a cleaning module,comprising: a shaft extending along an axis perpendicular to thetravelling direction, two opposite ends of the shaft are connected withthe main frame; and a plurality of roller sets separated from eachother, the shaft penetrating through the roller sets, each of the rollersets having a cleaning surface configured to abut against the floor; asticky roller configured to abut against and clean up the cleaningsurfaces; and a lifting mechanism, comprising: a supporting frame; aplurality of wheels disposed on the supporting frame and supporting thesticky roller; a first connecting portion connected to a side of thesupporting frame and movably connected with the main frame; a secondconnecting portion connected to another side of the supporting frame andhaving a screw hole; a driving device disposed on the main frame; and athreaded rod coupled with the screw hole, the driving device beingconfigured to rotate the threaded rod relative to the main frame.